A "robust" convergent visual servoing system

This paper describes a simple visual servoing control algorithm capable of robustly positioning a three degree of freedom end effector based only on information from a stereo vision system. The proposed control algorithm does not require estimates of the gripper's spatial position, a significant source of calibration sensitivity. The controller is completely immune to positional camera calibration errors, and we demonstrate robustness to orientation miscalibration through a series of simulations and experiments.

Authors

• D. Kim
• Alfred A. Rizzi
• Gregory D. Hager
• Daniel E. Koditschek

Keywords

• Robustness
• Visual servoing
• Calibration
• Control systems
• Cameras
• Robust control
• End effectors
• Robot vision systems
• Stereo vision
• Computer vision
• Simple Control
• End-effector
• Stereopsis
• Camera Calibration
• Degrees Of Freedom
• Control Strategy
• Gradient Descent
• Optimal Control
• Diagonal Matrix
• Number Of Researchers
• Image Plane
• Workspace
• Optical Axis
• Newton Method
• Camera System
• Rigid Transformation
• Gradient Algorithm
• Stereo Camera
• Underdamped
• Newton Algorithm
• Perspective Transformation
• Root-finding
• Robotic Gripper